diff --git a/data/RobotAPI/robots/Armar3/ArmarIII-RightHand.xml b/data/RobotAPI/robots/Armar3/ArmarIII-RightHand.xml
index 204c042374f46747c34f293f50edef8b8512d618..af334dba7a466e8ed1ddd6e875fef0c9b7b0fdd5 100644
--- a/data/RobotAPI/robots/Armar3/ArmarIII-RightHand.xml
+++ b/data/RobotAPI/robots/Armar3/ArmarIII-RightHand.xml
@@ -451,7 +451,7 @@
 		<Node name="Pinky R J1"/>
 	</RobotNodeSet>
 
-        <Endeffector name="TCP R" base="Hand R Base" tcp="TCP R" gcp="GCP R">
+    <Endeffector name="TCP R" base="Hand R Base" tcp="TCP R" gcp="GCP R">
 	    <Preshape name="Open Preshape">
 	        <Node name="Thumb R J0" unit="radian" value="0"/>
 	        <Node name="Thumb R J1" unit="radian" value="0"/>
@@ -463,31 +463,21 @@
 	        <Node name="Ring R J1" unit="radian" value="0"/>
 	        <Node name="Pinky R J0" unit="radian" value="0"/>
 	        <Node name="Pinky R J1" unit="radian" value="0"/>
+	        <Node name="Hand Palm 2 R" unit="radian" value="0"/>
 	    </Preshape>
-            <Preshape name="Close Preshape">
-                <Node name="Thumb R J0" unit="radian" value="1"/>
-                <Node name="Thumb R J1" unit="radian" value="1"/>
-                <Node name="Index R J0" unit="radian" value="1"/>
-                <Node name="Index R J1" unit="radian" value="1"/>
-                <Node name="Middle R J0" unit="radian" value="1"/>
-                <Node name="Middle R J1" unit="radian" value="1"/>
-                <Node name="Ring R J0" unit="radian" value="1"/>
-                <Node name="Ring R J1" unit="radian" value="1"/>
-                <Node name="Pinky R J0" unit="radian" value="1"/>
-                <Node name="Pinky R J1" unit="radian" value="1"/>
-            </Preshape>
-            <Preshape name="Julia Preshape">
-                <Node name="Thumb R J0" unit="radian" value="0"/>
-                <Node name="Thumb R J1" unit="radian" value="0"/>
-                <Node name="Index R J0" unit="radian" value="0"/>
-                <Node name="Index R J1" unit="radian" value="0"/>
-                <Node name="Middle R J0" unit="radian" value="1.5"/>
-                <Node name="Middle R J1" unit="radian" value="1.5"/>
-                <Node name="Ring R J0" unit="radian" value="1.5"/>
-                <Node name="Ring R J1" unit="radian" value="1.5"/>
-                <Node name="Pinky R J0" unit="radian" value="0"/>
-                <Node name="Pinky R J1" unit="radian" value="0"/>
-            </Preshape>
+		<Preshape name="Close Preshape">
+			<Node name="Thumb R J0" unit="radian" value="1"/>
+			<Node name="Thumb R J1" unit="radian" value="1"/>
+			<Node name="Index R J0" unit="radian" value="1"/>
+			<Node name="Index R J1" unit="radian" value="1"/>
+			<Node name="Middle R J0" unit="radian" value="1"/>
+			<Node name="Middle R J1" unit="radian" value="1"/>
+			<Node name="Ring R J0" unit="radian" value="1"/>
+			<Node name="Ring R J1" unit="radian" value="1"/>
+			<Node name="Pinky R J0" unit="radian" value="1"/>
+			<Node name="Pinky R J1" unit="radian" value="1"/>
+	        <Node name="Hand Palm 2 R" unit="radian" value="0"/>
+		</Preshape>
 	    
 	    
 		<Static>